Modular vehicle

ABSTRACT

The invention is a modular vehicle that is intended for a variety of operations including both military and civilian operations. The vehicle addresses the issue of performing special purpose tasks that the vehicle is asked to do. Such tasks can be accomplished by configuring the vehicle as an ambulance, as a fire-fighting vehicle, as a communications van, as a command and control vehicle, etc. Thus, the vehicle is readily adapted using standardized and customized modules that are readily attached to a standardized platform that includes an appropriate interconnection means.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to prior U.S. Provisional ApplicationNo. 60/437,413, filed Dec. 30, 2002, entitled Modular Vehicle, which isincorporated herein in its entirety by this reference thereto.

BACKGROUND

1. Technical Field

The invention relates to the design and operation of vehicles. Inparticular, the invention relates to vehicles that can be operated in avariety of operating environments and perform a variety of specializedfunctions.

2. Description of the Prior Art

Traditionally, vehicles designed to perform specialized tasks are indeedtruly specialized, and are ill suited for more general application. Whenremoved from their designed operating environment, their performancedegrades markedly. As a result, organizations such as law enforcementagencies, emergency response units, and the military accumulate a largefleet of vehicles, each of which is capable of performing in a singlespecific environment.

A great reduction in vehicle inventory could be achieved if a single,reconfigurable vehicle platform were able to provide equivalentfunctionality. Organizations could then purchase fewer units,reconfiguring the units on an as needed basis for a particular end use.

Automobile designers and manufacturers have proposed several conceptsdirected towards this goal. For example, GM has recently introduced aconcept vehicle, known as the Autonomy project, based on a thin, fuelcell powered chassis to which various vehicle bodies may be attached.Integrated Concepts and Research Corporation (ICRC) has described aTransformer Truck configurable for service as a cargo truck, wrecker,dump truck, personnel carrier or self-loading ISO container hauler.

However, neither of these vehicles truly provides an easily configurablevehicle platform suitable for nearly any envisioned end use.

SUMMARY

The invention is a modular vehicle that is intended for a variety ofoperations including both military and civilian operations. The vehicleaddresses the issue of performing special purpose tasks that the vehicleis asked to do. Such tasks can be accomplished by configuring thevehicle as an ambulance, as a fire-fighting vehicle, as a communicationsvan, as a command and control vehicle, etc. Thus, the vehicle is readilyadapted using standardized and customized modules that are readilyattached to a standardized platform that includes an appropriateinterconnection means.

Traditionally, there had either been a general purpose vehicle, such asa van or a pick-up truck that was not customized to do a particularfunction well, or there has been a highly customized vehicle such as anEMT rescue vehicle, a fire fighting command post and such, which isoptimized to do a particular function but does only that function. Thus,the traditional approach presents problems with regard to flexibility.For example, a fire department may need a power generator or emergencyoutdoor lighting one day and may need a communications tower or anambulance the next day. Maintaining an inventory of such vehicles isexpensive and difficult. The invention is intended to answer that need.

The invention starts with a standardized vehicle platform and modifiesthe vehicle with modular components. For example, additional weightbearing capacity may be added to the vehicle, for example by adding anadditional axle to make a 4×4 vehicle into a 6×6 vehicle. A receiverframe may be placed on top of an existing vehicle frame or the vehicleframe itself may provide this functionality, rather than havingtraditional bolt or welding points. Thus, the invention herein providesa pre-built fixturing system that uses either released implants or otherretainment means, which may also include bolts.

The modules are preferably of several standardized sizes. In thepreferred embodiment of the invention, the foundation of the platform,the chassis, can receive one large module on its bed or two half-sizedmodules or one half-sized and two-quarter sized modules. Because thechassis or receiver frame is pre-drilled, for example as is done with anequipment rack, a variety of modules can be accommodated easily.Further, the chassis or the receiver frame is constructed with thestrength and rigidity necessary to support such modules, commensuratewith the anticipated weight, power, and capacity of the vehicle.

The invention addresses a further problem of providing services to themodules. Services could include such things as high voltage AC power,low voltage DC power, 25 volts or 12 volts. There may be a need forcooling if the modules that are attached to the platform include heatgenerating devices, whether it is water-cooling or some other capacity.It may be necessary to provide air pressure. For example, if a pneumaticmast is provided, then there must be an air compressor associated withthe vehicle. In this case, air would have to be distributed to thevarious elements that require pneumatic power. Hydraulic fluids wouldalso need to be distributed, for example if there is a power take-off onthe truck which runs on a hydraulic system to operate various implementsthat are built into it.

The invention contemplates a set of quickly releasable and self-sealingconnectors that employ standardized methods with regard to where theconnector is located on the vehicle. The vehicle also includes a wiringtrough that goes from the front end of the vehicle to the back and thatis pre-wired to provide connections for digital and analog signals andother elements. A communication bus is also provided along the path.

The invention also provides a dedicated control pathway that allows subpanels to be placed, for example, inside the cab providing directcontrol of potentially dangerous elements that would not typically berun through a general purpose control system running on a vehiclecomputer. For example, for a military weapons system, a separate controlmight be provided. For civilian use, there may be a mast that elevates,and a standard control system may cause the mast to raise at aninappropriate time, thereby creating a safety hazard. Such functions ascontrol of weapons or the mast are referred to as mission criticalelements that must be controlled and cannot be subject to computer erroror bugs.

Thus, the invention may be analogized to a general purposes computerthat has an operating system and a series of applications and peripheralhardware devices. In the context of the invention, the vehicle has anoperating system that is used to control and recognize the variousmodules that are attached to the platform in a manner similar to plug-indriver software, where a module is recognized when it is attached to theplatform. Thus, the module identifies its functionality and capabilitiesto the computer of the system built into the vehicle. The module has aseries of custom interfaces on it that allow contact closures, lighting,power control, and interfaces to other computers that might be on boardeach module.

The module may also have a pre-loaded personality, for example so thatthe control system recognizes it as a power module. Thus, the systemknows where the power module is and what it is. The module may also tellthe computer that it is an unknown and the computer then must obtaindriver software necessary for the module, which may for example may bedownloaded to operate the module.

The vehicle operating system provides control to the driver's and otherstations. There may be, for example, a driver's station, a passenger'sstation, and back seat stations for various technicians responsible forthe functionality employed in the various modules. These functions canbe specialized so that the driver concentrates on safely operating thevehicle. For example the person in the right front seat might be thecommunications person, while the person in the back seat might operateequipment, such as electro-optic masts, camera systems, videos, firefighting equipment, etc. The control system knows how to partitionitself so people are only able to perform tasks that are appropriate fortheir functions and locations in the vehicle. The system imposes aninterlock so that functions are only implemented at appropriate times.

In the example of a mast, the system would not let the person in theright seat raise the mast. Only the driver could raise the mast becausethe driver would know when the vehicle is not moving and it is safe toso operate the mast. There may also be logic in the vehicle that sensesthe vehicle's motion and/or gear position, and determines whether or notthe mast can be raised. Thus, the vehicle implements a series ofconditional branching statements in its operating system that implementrules such as “Never raise the mast when the engine is running,” “Don'tallow the engine to start while the mast is up,” “Don't raise the mastif the vehicle is indoors.” There are sensor and operating relationsestablished in the operating system so that the vehicle knows how tomanage such activities of these modules for safety and or performance.

The operating system within the vehicle can also understand preloadedparameters, such as weight, center of gravity, and balance. Thus, if agiven set of modules is stacked onto the platform, the vehicle isintelligent and can calculate, for example, the vehicle center ofgravity. The vehicle might determine that there is, for example, a veryhigh roll center and therefore determine that it unsafe to drive thevehicle at speeds of more than 45 mph. In this event, the vehicle maywarn the vehicle operator and or may inhibit the vehicle's ability totravel above the safe speed.

The various modules are recognized upon being installed. The computerwithin the vehicle acknowledges the module and performs a backgroundcalculation for weight, balance, and power consumption, for example. Inthe case of power consumption, the vehicle might recognize that puttingtwo lighting modules on the vehicle exceeds the rating of the generatorthat comes with the vehicle. This may alert the operator as to the needfor sharing this load between the two lighting modules, or ask theoperator to determine how much power goes to each module so that theavailable power may be used in the most effective way. In any event, thesystem would recognize that excessive power was required and wouldprotect itself against damage or unsafe operation that may result fromdrawing more current than is available.

The installed modules also auto configure. The central processorrecognizes these modules by such unique characteristics as a serialnumber, a bar code, and/or a configuration of mechanical pins at thepoint of engagement. Files inside the module may inform the centralprocessor of attributes of the module, such as weight, size, powerrequirements, and capabilities. A history of the module may also beprovided, including information such as past problems and totaloperating time.

From this information the central processor can determine what thecapabilities are for each module and the combination of modules. Thecentral processor also determines if the configuration is unsafe orunworkable due to excess weight or power demands. The central processorcan also determine if any software or driver updates or enhancements areavailable and/or required for the installed modules.

The physical connections of the modules are standardized, allowing themto be attached and removed without special training. When removed, themodules can be fitted with protective plates or caster bases, allowingthem to be transported safely and easily. The connection between themodule and the vehicle frame provides all necessary power, hydraulics,pneumatics, cooling, and data connections required by this module. Thedata may be provided by a physical connection or by an optical or RFlink. The optical link may be IR beam through free air, or an RFconnection, such as specified by BlueTooth or IEEE802.11.

In summary, the invention provides at least the following uniqueelements that address the problems attendant with the prior art:

-   1. Assembling a set of special purpose modules onto a vehicle bed in    a mix and match fashion so that the vehicle is readily provided with    the functionality desired for particular applications;-   2. A plurality of specialized self-identifying modules that report    to a central control system within the vehicle such parameters as    weight, power consumption, size, and functionality, so that the    modular elements fit within the design limits of the platform, and    such that the user interface, i.e. the driver and other operator    controls, are dynamically configured to express the functionality of    the modules installed on the platform;-   3. Unique identification of the various modular elements such that a    central control element within the platform can update the module,    unlock or add functions in installed modules, or accept new modules;-   4. A common connection for mechanical, electrical, and fluid    elements that make such mechanical, electrical, and fluid expedients    available to the various modules without the need for special    wiring, running of conduits, or provision of special mechanical    fittings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a vehicle platform for receiving modules of a modularvehicle according to the invention;

FIG. 2 shows a frame of a first module according to the invention;

FIG. 3 shows a frame of a second module according to the invention;

FIG. 4 shows a frame of a third module according to the invention;

FIG. 5 shows a frame of a third module engaged with the vehicle platformframe according to the invention;

FIG. 6 shows the first, second and third modules engaged with thevehicle platform frame according to the invention;

FIG. 7 shows a power distribution scheme for a modular vehicle accordingto the invention.

FIG. 8 shows a control scheme for a modular vehicle according to theinvention; and

FIG. 9 shows a scheme for routing video signals in a modular vehicleaccording to the invention.

DETAILED DESCRIPTION

The invention is a modularly reconfigurable vehicle capable of servingan extremely wide range of end uses. Equipment suited for a particularend use is installed using a standardized connection system, allowingrapid and convenient exchange of individual components or entireconfigurations. The standardized connection also provides flexibility ininstallation location, allowing for more optimal distribution ofequipment weight on the underlying vehicle platform.

Equipment is selected and installed in a modular manner, with eachmodule providing a unique function. Examples of functionality providedby individual modules include:

-   -   Additional passenger seating    -   Additional fuel capacity    -   Light weaponry capability    -   RF communication    -   Scissor lift    -   Telescoping mast    -   Electronic surveillance    -   RDF    -   RF communication monitoring, and    -   Video cameras (visual and infrared)

To ease in the selection of an appropriate combination of modules,modules may be classified using several schemes. For example, modulesmay be classified by mass, where Type I modules are the most massive,and Type III the least massive. Type I modules would include such itemsas power tools, lifts, and light weaponry. Type II modules would includeitems such as power tools, lifts, and light weaponry. Type III moduleswould include items such as compact electronics, such as communicationgear.

In addition, modules may be classified by size, with common module sizesincluding ⅛, ¼, ½, and 1, and indicating the fraction of the vehicleplatform area occupied by the module. Alternatively, a more simplesystem employs modules of either cross-wise orientation or occupying thefull length of the vehicle platform.

For a given vehicle platform, selection may be performed with a simplecombination scheme such as “one Type 1 module, and four Type IIImodules”, subject to the restriction that the area of the modules notexceed the total area of the vehicle platform.

Modules can be assembled to produce a vehicle well suited for a widevariety of end uses. For example, vehicles intended for

-   -   command, control and communication    -   surveillance    -   chemical detection, and    -   search and rescue        are among the many possibilities.

The modules are designed to have a standard mechanical connection withthe underlying vehicle platform. Preferably, a mechanically simplesystem such as a clevis pins is employed, ensuring for simple, rapid,and reliable installation of the modules.

The invention addresses a further problem of providing services to themodules. Services could include such things as high voltage AC power,low voltage DC power, 25 volts or 12 volts. There may be a need forcooling if the modules that are attached to the platform include heatgenerating devices, whether it is water-cooling or some other capacity.It may be necessary to provide air pressure. For example, if a pneumaticmast is provided, then there must be an air compressor associated withthe vehicle. In this case, air would have to be distributed to thevarious elements that require pneumatic power. Hydraulic fluids wouldalso need to be distributed, for example if there is a power take-off onthe truck which runs on a hydraulic system to operate various implementsthat are built into it. Installation of each module engages, preferablyautomatically, a series of connections, including electric, hydraulic 12(see FIG. 1), and pneumatic power 13 (see FIG. 1). Data can be passedover Ethernet or similar connection. Video connections can also beprovided.

Coordination of the modules is handled by a central computer incommunication with each module. Two control schemes are envisioned. Inthe first scheme, the central computer is equipped with software capableof controlling the equipment within each module. Upon installation, eachmodule identifies itself. In response, the central computer displays tothe operator interfaces and controls appropriate for operation of theinstalled module, and relays commands received through the interface andcontrols to the equipment within the module. In this scheme, the centralcomputer contains software appropriate for operation of each module thatmay potentially be installed.

In the second scheme, each module is equipped with a dedicatedmicroprocessor for control of equipment within the module. Uponinstallation, each module identifies itself. During operation, thecomputer onboard the module sends information to the central computerindicating a set of operator interfaces and controls appropriate foroperation of the module. The central computer need only coordinate thedisplay of the control interfaces for the several installed modules. Assuch, the central computer can be forward compatible with newly designedmodules.

Identification of installed modules and coordination of module controlmay be implemented through a protocol such as Sun Microsystems's Jini.

FIG. 1 shows a vehicle platform frame 10 for receiving modules of amodular vehicle according to the invention. The frame is of a standardwidth that matches the width of a mounting bracket on the base of eachmodule. Holes 11 of a standard size are drilled at regular intervalsalong the length of the frame for receiving mounting pins that secureeach module mounted on the frame.

FIG. 2 shows a frame 22 of a first module according to the invention.The forward-rearward length 23 of the frame is a standardized fractionof the vehicle platform frame. The width of the mounting bracket 20 onthe base of the module frame matches that of the vehicle platform frame.Holes 24 drilled in the module frame match the holes placed at regularintervals on the vehicle platform frame. Similarly, FIGS. 3 and 4 show aframe of a second 30 and third 40 module respectively, according to theinvention.

FIG. 5 shows the frame of the third module 40 engaged with the vehicleplatform frame 10. The standardized width and hole spacing of thevehicle platform frame and module mounting bracket ensure that themodule can be placed at a variety of locations on the vehicle platformframe. FIG. 6 shows the first 22, second 30, and third 40 modulesengaged with the vehicle at the vehicle platform frame 10.

FIG. 7 shows a power distribution scheme for a modular vehicle accordingto the invention. The power system onboard each module (indicated by thedashed box 70 provides power to one or more safety functions 71 and isconnected thereto by a relay 72, breaker 73, and contactor 74 to a fusedtransfer 75. The relay is controlled directly from within the cabin of amodular vehicle. Power is also provided directly from the breaker to thenon-safety functions 76 of the module. The power within each module mayalso contain a DC-DC conversion 77 to alter the voltage supplied to themodule.

The fused transfers are also connected via a contactor to the vehiclebatteries 78, and to the electrical systems of the non-module vehicledevices 80. A connection is also provided, via another contactor, to aone or more “technical batteries” 79 contained in the power module.These batteries may be charged directly from an auxiliary alternator 81.

Finally, the fused transfers are connected to an inverter 82 that canprovide power to the vehicle when connected to a 120V shore power line.This allows for powering of all vehicle and module devices directly fromthe shoreline, and for charging of the vehicle and power modulebatteries.

FIG. 8 shows a diagram illustrating a control scheme for a modularvehicle according to the invention. In the diagram shown, lines 83 carrycommunications between peripherals and computers, lines 84 carry data,lines 85 carry communications with safety functions, lines 86 carryindicate video signals, and lines 87 carry audio signals.

The invention also provides a dedicated control pathway 106 that allowssub panels 105 to be placed, for example, inside the cab providingdirect control of potentially dangerous elements that would nottypically be run through a general purpose control system running on avehicle computer. For example, for a military weapons system, a separatecontrol might be provided. For civilian use, there may be a mast 107that elevates, and a standard control system may cause the mast to raiseat an inappropriate time, thereby creating a safety hazard. Suchfunctions as control of weapons or the mast are referred to as missioncritical elements that must be controlled and cannot be subject tocomputer error or bugs.

The safety functions are controlled directly from a control panel 105containing a number of toggle switches. For each module, a switch isassigned to the main module power. A number of other switches areassigned to each safety critical function on the module. Each toggleswitch is connected with the corresponding module function with adedicated wire. Additionally, the control panel may be connected to thevehicle computer to monitor the vehicle state.

Data are carried via an Ethernet carried on Category 5 twisted pairwiring. The console computer 88 with which an operator interfaces, theairport wireless (802.11) networks 89. the vehicle computer 90, thesatellite tracking Internet terminal 91, the analog/digital input/outputmicroprocessor 92, surveillance receiver controls 93, and the panoramicvideo processing unit 94 are all connected to the Ethernet via anEthernet switch 95.

The peripherals also operate over Category 5 twisted pair wiring. Allperipherals are integrated with a Category 5 KVM switch 96.

Video signals obtained from devices throughout the main vehicle andmodules are routed along Category 5 wiring to an appropriate destinationusing a matrix switch. Greater detail is provided in FIG. 9.

Finally, the audio obtained from the surveillance receivers, as well asother sources such as satellite radio, is handled by an audio mixer 97.The audio is also routed over Category 5 wiring. The behavior of theaudio mixer is addressable using serial controls form the videostreaming device and video recorder 98.

FIG. 9 shows a scheme for routing video signals in a modular vehicleaccording to the invention. Video from leftward (L), rightward (R),downward (D), and backward (B) viewing cameras; a mast mounted camera(M), and a forward looking infrared camera (FLIR); a digital satellitesystem (DSS), and a weapons system cameras (W) are all provided to a12×4 matrix switch 99. The switch provides signals to a video-streamingserver 100 may handle more than one signal simultaneously, and alsoincorporates audio from the audio mixer, as in FIG. 8. Video signals arealso provided to a video recording device 101 and a console basedmonitor 102. Finally, signals may be routed to a display 103 integratedinto a rear view mirror of the vehicle.

Although the invention is described herein with reference to thepreferred embodiment, one skilled in the art will readily appreciatethat other applications may be substituted for those set forth hereinwithout departing from the spirit and scope of the present invention.Accordingly, the invention should only be limited by the Claims includedbelow.

What is claimed is:
 1. A modular vehicle, comprising: a vehicleplatform; a plurality of fixation sites along said platform, saidfixation sites comprising standardized interconnection means for all anyof mechanical and electrical connections and for distribution ofhydraulic fluid and compressed air to specialized functional modules;said fixation sites being located along said platform at intervals toreadily accept at least two said modules simultaneously, where each saidmodule is sized as a standardized fraction of the total area of saidplatform, with said platform providing an underlying foundation foraccepting a plurality of combinations of said modules, with the totalarea of the modules of said combination totaling no more than the areaof said platform; a control and communications protocol communicativelyprovided throughout said platform for recognizing any of said module'spresence, identity, capability, and function, and for configuring saidmodular vehicle accordingly; and at least two modules, each moduleproviding a unique function, each module comprising a standardizedfraction of the total area of said platform, said modules when affixedto said platform comprising in combination a vehicle suited for aparticular use, said modules having in combination an area totaling nomore that the area of said platform, said modules having fixation meansthat are located along said modules at intervals that coincide with atleast a portion of said fixation sites of said platform, said fixationmeans being engageable with said platform at said fixation sites tosecure said modules to said underlying platform.
 2. The vehicle of claim1, further comprising: a dedicated path about said platform foreffecting individual control of said modules.
 3. The vehicle of claim 1,further comprising: a computer implemented vehicle operating system forcontrolling said modules.
 4. The vehicle of claim 1, said fixation sitescomprising: a plurality of custom interfaces for any of contactclosures, lighting, power, control, and interface to computers on boardone or more of said modules.
 5. The vehicle of claim 1, furthercomprising: a dedicated control pathway connected to a plurality of subpanels placed about the vehicle for direct control of potentiallydangerous elements apart from a general purpose control system runningon a vehicle computer.